Add asset kitchen_supplies/storage/d88fb5e4daad557f93ed4eb9c810fc2e

.gitattributes

@@ -7175,4 +7175,4 @@ dataset/kitchen_supplies/storage/d3169420bc13515aad225faf019d6117/affordance/mes
 dataset/kitchen_supplies/storage/d5c35bb084c45341a5a16e0923d006af/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/d6b6fc35ed3a5300a0c11fe8f43880d6/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
 dataset/kitchen_supplies/storage/d6f48d0e7ff355f285a4e5cee940d346/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
-dataset/kitchen_supplies/storage/d836e6d5f4d555889bab9e7af2bcf00b/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
+dataset/kitchen_supplies/storage/d88fb5e4daad557f93ed4eb9c810fc2e/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text

dataset/kitchen_supplies/storage/d88fb5e4daad557f93ed4eb9c810fc2e/affordance/affordance_annot.json

@@ -0,0 +1,173 @@
+{
+    "affordances": [
+        {
+            "part_name": "cabinet body",
+            "mask_color": "Yellow",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the cabinet sides or top to lift and reposition the drawer unit",
+                    "confidence": 0.83
+                },
+                {
+                    "scenario": "hold the cabinet body to stabilize it while opening or closing drawers",
+                    "confidence": 0.9
+                }
+            ],
+            "functional_labels": [
+                "support the drawer structure",
+                "enclose the drawer bays",
+                "provide overall rigidity",
+                "serve as main load-bearing frame"
+            ],
+            "semantic_description": "Large light beige cabinet frame with a matte smooth finish and subtle wood-like texture, forming the top, sides, bottom, and outer shell of the drawer unit.",
+            "id": 3,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "drawer front",
+            "mask_color": "Green",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the drawer front edge to pull a drawer open when not using the handle",
+                    "confidence": 0.64
+                },
+                {
+                    "scenario": "push on the drawer front to close the drawer",
+                    "confidence": 0.87
+                },
+                {
+                    "scenario": "hold the drawer front to stabilize a partially removed drawer",
+                    "confidence": 0.59
+                }
+            ],
+            "functional_labels": [
+                "close the front of the drawer",
+                "provide a pulling surface",
+                "provide a pushing surface",
+                "present the drawer face"
+            ],
+            "semantic_description": "Rectangular light wood-look drawer face with a matte smooth finish and visible grain pattern, mounted at the front of each drawer and spanning most of the drawer width.",
+            "id": 1,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "drawer interior tray",
+            "mask_color": "Magenta",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the side walls of a removed drawer tray to carry it",
+                    "confidence": 0.76
+                },
+                {
+                    "scenario": "hold the drawer box while sliding it into or out of the cabinet",
+                    "confidence": 0.67
+                }
+            ],
+            "functional_labels": [
+                "contain stored items",
+                "form the drawer cavity",
+                "support contents during sliding",
+                "provide removable storage volume"
+            ],
+            "semantic_description": "Open-top drawer box with smooth hard surfaces and a brown to tan interior appearance, recessed behind the drawer front as the main storage compartment.",
+            "id": 7,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "drawer handle",
+            "mask_color": "Brown",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp the handle to pull a drawer open",
+                    "confidence": 0.97
+                },
+                {
+                    "scenario": "hold the handle to guide a drawer closed",
+                    "confidence": 0.94
+                }
+            ],
+            "functional_labels": [
+                "provide a grip for opening",
+                "guide drawer motion",
+                "enable controlled closing"
+            ],
+            "semantic_description": "Small curved metallic pull handle with a warm gold tone, glossy reflective finish, and smooth hard surface, centered on each drawer front.",
+            "id": 11,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "drawer slide rail",
+            "mask_color": "Blue",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "guide drawer translation",
+                "support drawer weight",
+                "reduce friction during sliding",
+                "keep drawer aligned"
+            ],
+            "semantic_description": "Narrow gray metal rail hardware with a dull semi-reflective finish and hard smooth surface, mounted along the drawer sides inside the cabinet.",
+            "id": 2,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "drawer runner support",
+            "mask_color": "Lime Green",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "mount slide hardware",
+                "space the drawer rails",
+                "support drawer alignment"
+            ],
+            "semantic_description": "Thin light beige horizontal support strip positioned beside the drawers to carry the slide hardware.",
+            "id": 9,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "drawer slide mechanism",
+            "mask_color": "Crimson",
+            "graspable": false,
+            "grasp_scenarios": [],
+            "functional_labels": [
+                "enable telescoping motion",
+                "connect rail components",
+                "assist smooth extension"
+            ],
+            "semantic_description": "Small dark gray metal slide component visible within the side rail assembly between the cabinet and drawer box.",
+            "id": 16,
+            "grasp_group": {}
+        },
+        {
+            "part_name": "foot",
+            "mask_color": "Olive",
+            "graspable": true,
+            "grasp_scenarios": [
+                {
+                    "scenario": "grasp a foot to tilt or reorient the cabinet during moving",
+                    "confidence": 0.42
+                },
+                {
+                    "scenario": "hold a foot briefly to stabilize the base during placement",
+                    "confidence": 0.35
+                }
+            ],
+            "functional_labels": [
+                "support the cabinet off the floor",
+                "stabilize the base",
+                "provide ground clearance"
+            ],
+            "semantic_description": "Short tapered leg-like foot in a slightly darker beige-brown tone than the cabinet body, with a matte smooth finish and rounded profile, located at the cabinet corners near the base.",
+            "id": 14,
+            "grasp_group": {}
+        }
+    ],
+    "quality_check": {
+        "success": false,
+        "message": "Several part identities and colors are mismatched; runner support and slide mechanism labels are incorrect."
+    }
+}

dataset/kitchen_supplies/storage/d88fb5e4daad557f93ed4eb9c810fc2e/affordance/mesh_part_seg.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:946c2d82d4bbe9c5d1a0d44cf388a81405d979306c2fd4bc07ecdba6d2cf73b0
+size 3796692

dataset/kitchen_supplies/storage/d88fb5e4daad557f93ed4eb9c810fc2e/drawer_064.urdf

@@ -57,6 +57,7 @@
                <mesh filename="affordance/mesh_part_seg.glb" scale="1.0 1.0 1.0" />
             </geometry>
          </visual_seg>
+         <affordance_annot>affordance/affordance_annot.json</affordance_annot>
       </affordance>
       <quality>
          <PartSegChecker>YES</PartSegChecker>